Collision avoidance system for vehicle

ABSTRACT

A vehicular collision avoidance system includes a forward-viewing camera, a rearward-viewing camera, a rearward-sensing radar sensor and an electronic control unit. The vehicular collision avoidance system detects vehicles present forward and/or rearward of the equipped vehicle. Responsive to at least one selected from the group consisting of (i) data processing of image data captured by the rearward-viewing camera and (ii) data processing of sensor data captured by the rearward-sensing radar sensor, the vehicular collision avoidance system determines potential of collision with the equipped vehicle by a detected other vehicle and/or determines that impact with the equipped vehicle by a detected other vehicle is imminent.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 15/793,132, filed Oct. 25, 2017, now U.S. Pat. No. 10,207,705,which is a continuation of U.S. patent application Ser. No. 15/406,861,filed Jan. 16, 2017, now U.S. Pat. No. 9,802,609, which is acontinuation of U.S. patent application Ser. No. 15/144,114, filed May2, 2016, now U.S. Pat. No. 9,545,921, which is a continuation of U.S.patent application Ser. No. 14/248,602, filed Apr. 9, 2014, now U.S.Pat. No. 9,327,693, which claims the filing benefits of U.S. provisionalapplication Ser. No. 61/810,407, filed Apr. 10, 2013, which is herebyincorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system and,more particularly, to a vehicle vision system that utilizes one or morecameras at the vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a collision avoidance system or visionsystem or imaging system for a vehicle that utilizes one or more cameras(preferably one or more CMOS cameras) to capture image datarepresentative of images exterior of the vehicle, and provides an alertto the driver of the vehicle and/or controls one or more functions orsystems of the vehicle responsive to a determination that a rearwardapproaching vehicle is likely to impact or collide with the subjectvehicle.

According to an aspect of the present invention, a collision avoidancesystem of a vehicle comprises a camera disposed at the equipped vehicle,with the camera having a field of view exterior of and rearward of theequipped vehicle. An image processor is operable to process image datacaptured by the camera. Responsive to image processing of captured imagedata, the collision avoidance system is operable to determine anapproach of another vehicle rearward of the equipped vehicle and todetermine an excitation level depending on (i) a difference between thespeed of the approaching vehicle and the speed of the equipped vehicleand (ii) a distance between the approaching vehicle and the equippedvehicle. Responsive to a determined excitation level, the collisionavoidance system is operable to at least one of (a) provide an alert tothe driver of the equipped vehicle (such as a visible and/or audiblealert), (b) provide an alert to the driver of the approaching vehicle(such as via control of one or more exterior lights of the equippedvehicle), (c) prepare the equipped vehicle for impact (such as viapretensioning of the seatbelts worn by the occupant or occupants of theequipped vehicle or via adjusting of the seats or headrests of theequipped vehicle), (d) control a braking system of the equipped vehicle,(e) control a steering system of the equipped vehicle and (f) control anacceleration system of the equipped vehicle. Responsive to a determinedexcitation level, the collision avoidance system is operable to at leastone of (i) provide or transmit or communicate an alert to the driver ofthe approaching vehicle via a telematics system and (ii) communicateinformation to the approaching vehicle via a telematics system (such assharing relative speed and distance information or data and determiningrespective collision avoidance paths for the equipped vehicle andapproaching vehicle).

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle equipped with a collision avoidancesystem of the present invention;

FIG. 2 shows Table 1, which shows which ‘Excitation Level’ may beengaged at which distances respectively to a speed difference; and

FIG. 3 shows Table 2, which shows the measures which the system may takeat the respective excitation levels shown in Table 1 of FIG. 2.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide a top down or bird's eye orsurround view display and may provide a displayed image that isrepresentative of the subject vehicle, and optionally with the displayedimage being customized to at least partially correspond to the actualsubject vehicle.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera,such as a rearward facing imaging sensor or camera 14 a (and the systemmay optionally include multiple exterior facing imaging sensors orcameras, such as a forwardly facing camera 14 b at the front (or at thewindshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14 b at respective sides of the vehicle), which captures imagesexterior of the vehicle, with the camera having a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera (FIG. 1). The vision system 12 includes a control or electroniccontrol unit (ECU) or processor 18 that is operable to process imagedata captured by the cameras and may provide displayed images at adisplay device 16 for viewing by the driver of the vehicle (althoughshown in FIG. 1 as being part of or incorporated in or at an interiorrearview mirror assembly 20 of the vehicle, the control and/or thedisplay device may be disposed elsewhere at or in the vehicle). The datatransfer or signal communication from the camera to the ECU may compriseany suitable data or communication link, such as a vehicle network busor the like of the equipped vehicle.

Common systems utilize forward directed sensors to detect vehiclesdriving in front of the subject or host or equipped vehicle in the samedirection and lane. The systems are set up to target a certain distancefrom the leading vehicle at which they stay during acceleration anddeceleration maneuvers of the leading vehicle ahead of the subjectvehicle. With such systems, the driver can focus on keeping the hostvehicle in its lane. This function is typically referred to as AdaptiveCruise Control (ACC).

Similar systems are provided to interact by warning and braking of thesubject or host or equipped vehicle when the driver is driving thevehicle (without following another vehicle in front) towards and closingto a leading vehicle or traffic ahead of the subject vehicle, where thetraffic may be standing still or moving much slower than the subjectvehicle (such as in a traffic jam or the like). This function istypically referred to as Brake Assist.

These known systems do not provide assistance to a driver of a vehiclethat is at the back end of a traffic jam with other vehicles behind thesubject vehicle and possibly closing at high speed. In such situations,the driver of the subject vehicle may not notice the rearward approachof another vehicle or may have to hope that the following drivers (ortheir Brake Assist systems) will brake early enough to come to a stopbefore a collision or impact with the subject vehicle occurs.

The present invention provides a rear collision warning and assistsystem that utilizes a rearward facing sensor or camera (and optionallya surround vision system or front and rear vision system, optionallyincluding rear depth and front depth sensors), and optionally utilizinga car2car (v2v) communication system or equipment or the like. Suchcar2car (v2v)/car2X (v2x) communication systems utilize telematics toenable wireless transmission of data from the equipped host vehicle toanother vehicle or car and/or to an infrastructural system (such as atraffic light control system or a traffic management system or thelike). Correspondingly, data may be telematically communicated to thehost equipped vehicle from other vehicles and/or from an infrastructuralsystem or the like. Such data may comprise the likes of trafficcondition data, traffic density data, weather data, road condition data(such as, for example, black ice ahead on the road being travelled)and/or the like.

In accordance with the present invention, the host equipped vehicle maytransmit an alert or warning that an immediately following other vehicleis tailgating and/or is in hazard of colliding with the host vehicle,and that warning may be transmitted via a car2car/car2x telematicssystem to the immediately following (tailgating) other vehicle, in orderto (i) alert the driver of that other vehicle to thetailgating/hazardous existing condition and/or (ii) control that othervehicle to mitigate or reduce the tailgating/hazardous condition.

The rear collision warning and assist system of the present invention isoperable to determine the difference in speed of the subject vehicle toa closing vehicle that is closing in on or approaching the subjectvehicle from rearward of the subject vehicle, and also determines thedistance from the subject vehicle to the rearward approaching vehicle.Based on such determinations, the rear collision warning and assistsystem tracks the incoming or rearward approaching vehicle, and maycalculate the deceleration ratio, and estimates whether the incoming orapproaching vehicle is likely to be able to come to a stop beforereaching the subject vehicle. If, based on such determinations, thesystem determines that an impact is likely or imminent or unavoidable,the system also determines how high the remaining difference speed atimpact would be and how much additional space the rearward approachingvehicle would need for stopping without impacting the subject vehicle.Responsive to such determinations, the rear collision warning and assistsystem may warn the driver of the subject vehicle of the potentiallyhazardous situation so that the driver may take appropriate action, orthe system may undertake pre-impact measures, such as seat beltpretension and/or adjusting the vehicle seats (such as the occupiedseats) to their upright position, and/or the like, and/or the system maycontrol the subject vehicle to accelerate the vehicle automatically toreduce or lower the impact speed and to give the rearward approachingvehicle additional space for braking and slowing/stopping, particularlywhen there is clearance in front of the subject vehicle.

Optionally, the rear collision warning and assist system mayadditionally sense or determine the situation at or in neighboring oradjacent lanes at or adjacent to the subject vehicle. The system mayintervene and control the subject vehicle (not just via the accelerator)by controlling a steering system or mechanism of the subject vehicle topull over or move the subject vehicle to another free or unoccupied lane(such as the breakdown lane or the like), such as in situations wherethe system determines that a rear impact by a rearward approachingvehicle is imminent or otherwise unavoidable. In such situations, therear collision warning and assist system may utilize collision avoidancepath planning methods based on influence mapping, such as by utilizingaspects of the systems described in U.S. patent application Ser. No.14/016,790, filed Sep. 9, 2013 and published Mar. 6, 2014 as U.S.Publication No. US-2014-0067206, which is hereby incorporated herein byreference in its entirety.

For improving the system's prediction abilities, the rear collisionwarning and assist system of the present invention may optionally set upand utilize a communication channel that both vehicles (the subjectvehicle and the rearward approaching vehicle) may seek and use toexchange vehicle speed and direction data and to determine and agree oncollision avoidance paths for both vehicles, such as discussed below.

As shown in Table 1 (FIG. 2), the rear collision warning and assistsystem may set an excitation level (or degree of hazard rating)responsive to a determination of approach speed (or difference or ratioof the approaching vehicle speed to the subject vehicle speed). Table 1shows which ‘Excitation Level’ may be engaged at which distancesrespectively to the speed difference ‘delta v’ (dv). Table 2 (FIG. 3)shows the measures which the system may take at the respectiveexcitation levels shown in Table 1.

For example, the columns ‘Display’, ‘Acoustical warning’ and ‘Opticalsignaling’ in Table 2 may be the basic realization in response to adetermination of a rearward approaching vehicle that may be likely toimpact the subject or equipped vehicle. For example, a visual alert ordisplay and/or an audible alert or acoustical warning may be provided toalert the driver of the subject vehicle that another vehicle isapproaching from the rear, and the degree of the warning may increase(such as more rapid flashing or louder tone or audible signal) as thedetermined excitation level increases (or as the approaching vehiclegets closer to the subject vehicle and is more likely to impact thesubject vehicle). Optionally, an optical signal or alert may be providedto alert drivers of other vehicles (including the driver of thedetermined rearward approaching vehicle) that the other vehicle isapproaching the subject vehicle from the rear and in a potentiallyunsafe manner, with the degree of the warning (such as differentexterior lights of the subject vehicle being activated or flashed, suchas activation or flashing of the braking lights, the turn signalindicators, the fog lights, the reversing or backup lights, theheadlights and/or the like) increasing as the determined excitationlevel increases.

Optionally, a ‘pre-crash intervention’ process may be provided, wherethe rear collision warning and assist system may, when the excitationlevel is determined to be relatively high, prepare the vehicle andpassengers for impact. For example, and as shown in Table 2, when theexcitation level is at 3, the system may bring the seats of the vehicleto an upright position, and when the excitation level is at 4 (which maybe indicative of an imminent collision or impact), the system maypretension the seat belt or seat belts and/or may adjust or deploy theheadrest or headrests, and/or may deploy a roll over bar or the like.

Optionally, and as also shown in Table 2, the rear collision warning andassist system of the present invention may include a ‘speedintervention’ process, where the system controls an accelerator orengine/transmission of the subject vehicle to start the engine and/oraccelerate moderately or quickly and/or to downshift to a lower gear toenhance acceleration, responsive to the determined excitation level orthe degree of the determined hazard. Optionally, and as also shown inTable 2, the rear collision warning and assist system may include a‘steering intervention’ process, such as in addition to the ‘speedintervention’ function, where the system determines the clearance aheadof the subject vehicle and sidewards of the subject vehicle and maydetermine evasion paths for the subject vehicle, and may control thesteering of the subject vehicle to follow a determined avoidance path orevasion path to avoid the rearward collision, responsive to thedetermined excitation level or the degree of the determined hazard. Suchspeed and steering intervention may be implemented when the excitationlevel reaches a threshold level, such as at level 2 or higher in Table2.

Optionally, and as also shown in Table 2, the rear collision warning andassist system of the present invention may provide a remote signalingfunction to signal or communicate with a system or systems of therearward approaching vehicle. For example, the rear collision warningand assist system may have or utilize a car-to-car or v2v communicationsystem (such as by utilizing aspects of the systems described in U.S.provisional applications, Ser. No. 61/912,146, filed Dec. 5, 2013; Ser.No. 61/947,638, filed Mar. 4, 2014; and/or Ser. No. 61/947,053, filedMar. 3, 2014, which are hereby incorporated herein by reference in theirentireties), whereby subject vehicle information or data and approachingvehicle information or data may be exchanged and appropriate measuresmay be taken to avoid or mitigate the collision or impact. For example,the system may, upon detection of a rearward approaching vehicle, seek a“hand shake” with a system of the approaching vehicle and exchange speedand deceleration rates with the system of the approaching vehicle. Asthe excitation level (or degree of hazard or potential collision)increases (such as to a threshold level, such as at level 2 or higher inTable 2), the system may request a brake intervention to the approachingvehicle's system to activate or control the brake system of theapproaching vehicle, with the requested degree of braking of theapproaching vehicle increasing as the hazard or likelihood of impactincreases.

Optionally, the systems of the respective vehicles may communicate todetermine and agree upon respective collision avoidance paths (where theapproaching vehicle may follow a path to one side or the other of theequipped vehicle or where the equipped vehicle may follow a path to oneside or the other, such as responsive to a determination of which pathor paths for the respective vehicles best avoids the collision of thevehicles), again depending on the determined excitation level or thedegree of the determined hazard and depending on the determinedavailable collision avoidance or collision mitigation paths of thevehicles. The systems thus may communicate or transfer vehicle inherentdata and intervention coordination strategies via the optional ‘remotesignaling’ function. Optionally, the system or systems may utilizeaspects of the systems described in U.S. patent application Ser. No.14/169,328, filed Jan. 31, 2014, now U.S. Pat. No. 9,092,986, which ishereby incorporated herein by reference in its entirety.

Therefore, the present invention provides a collision avoidance systemthat is operable to determine the presence of or approach of a rearwardvehicle and determine a degree of hazard or likelihood of rear impact ofthe determined rearward vehicle with respect to the subject or hostvehicle. The system may provide a visible and/or audible alert to thedriver of the subject vehicle and/or to the driver of the approachingvehicle responsive to a determined degree of hazard or excitation level,and may control one or more systems (such as a braking system and/orsteering system and/or acceleration system) of the subject vehicle toavoid or minimize or mitigate the collision or impact, depending on thedetermined degree of hazard or excitation level. Optionally, the systemmay communicate with the rearward approaching vehicle to control one ormore systems of the approaching vehicle to avoid or minimize or mitigatethe collision or impact, depending on the determined degree of hazard orexcitation level.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. 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No. 61/840,542, filed Jun. 28, 2013; Ser. No. 61/838,619, filedJun. 24, 2013; Ser. No. 61/838,621, filed Jun. 24, 2013; Ser. No.61/837,955, filed Jun. 21, 2013; Ser. No. 61/836,900, filed Jun. 19,2013; Ser. No. 61/836,380, filed Jun. 18, 2013; Ser. No. 61/833,080,filed Jun. 10, 2013; Ser. No. 61/830,375, filed Jun. 3, 2013; Ser. No.61/830,377, filed Jun. 3, 2013; Ser. No. 61/825,752, filed May 21, 2013;Ser. No. 61/825,753, filed May 21, 2013; Ser. No. 61/823,648, filed May15, 2013; Ser. No. 61/823,644, filed May 15, 2013; Ser. No. 61/821,922,filed May 10, 2013; Ser. No. 61/819,835, filed May 6, 2013; Ser. No.61/819,033, filed May 3, 2013; Ser. No. 61/816,956, filed Apr. 29, 2013;Ser. No. 61/815,044, filed Apr. 23, 2013; Ser. No. 61/814,533, filedApr. 22, 2013; and/or Ser. No. 61/813,361, filed Apr. 18, 2013, whichare all hereby incorporated herein by reference in their entireties. Thesystem may communicate with other communication systems via any suitablemeans, such as by utilizing aspects of the systems described inInternational Publication Nos. WO 2010/144900; WO 2013/043661 and/or WO2013/081985, and/or U.S. patent application Ser. No. 13/202,005, filedAug. 17, 2011, now U.S. Pat. No. 9,126,525, which are herebyincorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and 6,824,281, and/or International Publication Nos. WO2010/099416; WO 2011/028686 and/or WO 2013/016409, and/or U.S. patentapplication Ser. No. 12/508,840, filed Jul. 24, 2009 and published Jan.28, 2010 as U.S. Pat. Publication No. US-2010-0020170, and/or U.S.patent application Ser. No. 13/534,657, filed Jun. 27, 2012 andpublished Jan. 3, 2013 as U.S. Publication No. US-2013-0002873, whichare all hereby incorporated herein by reference in their entireties. Thecamera or cameras may comprise any suitable cameras or imaging sensorsor camera modules, and may utilize aspects of the cameras or sensorsdescribed in U.S. patent applications, Ser. No. 12/091,359, filed Apr.24, 2008 and published Oct. 1, 2009 as U.S. Publication No.US-2009-0244361; and/or Ser. No. 13/260,400, filed Sep. 26, 2011, nowU.S. Pat. No. 8,542,451, and/or U.S. Pat. Nos. 7,965,336 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties. The imaging array sensor may comprise any suitable sensor,and may utilize various imaging sensors or imaging array sensors orcameras or the like, such as a CMOS imaging array sensor, a CCD sensoror other sensors or the like, such as the types described in U.S. Pat.Nos. 5,550,677; 5,670,935; 5,760,962; 5,715,093; 5,877,897; 6,922,292;6,757,109; 6,717,610; 6,590,719; 6,201,642; 6,498,620; 5,796,094;6,097,023; 6,320,176; 6,559,435; 6,831,261; 6,806,452; 6,396,397;6,822,563; 6,946,978; 7,339,149; 7,038,577; 7,004,606; 7,720,580 and/or7,965,336, and/or International Publication Nos. WO 2009/036176 and/orWO 2009/046268, which are all hereby incorporated herein by reference intheir entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786and/or 5,786,772, and/or U.S. pat. application Ser. No. 11/239,980,filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S.provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser.No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14,2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are herebyincorporated herein by reference in their entireties, a video device forinternal cabin surveillance and/or video telephone function, such asdisclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or7,370,983, and/or U.S. Publication No. US-2006-0050018, which are herebyincorporated herein by reference in their entireties, a traffic signrecognition system, a system for determining a distance to a leading ortrailing vehicle or object, such as a system utilizing the principlesdisclosed in U.S. Pat. Nos. 6,396,397 and/or 7,123,168, which are herebyincorporated herein by reference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. No. 7,255,451 and/or U.S.Pat. No. 7,480,149; and/or U.S. Publication No. US-2006-0061008 and/orU.S. patent application Ser. No. 12/578,732, filed Oct. 14, 2009 andpublished Apr. 22, 2010 as U.S. Publication No. US-2010-0097469, whichare hereby incorporated herein by reference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. Publication No.US-2006-0061008, which are all hereby incorporated herein by referencein their entireties. Optionally, the video mirror display screen ordevice may be operable to display images captured by a rearward viewingcamera of the vehicle during a reversing maneuver of the vehicle (suchas responsive to the vehicle gear actuator being placed in a reversegear position or the like) to assist the driver in backing up thevehicle, and optionally may be operable to display the compass headingor directional heading character or icon when the vehicle is notundertaking a reversing maneuver, such as when the vehicle is beingdriven in a forward direction along a road (such as by utilizing aspectsof the display system described in International Publication No. WO2012/051500, which is hereby incorporated herein by reference in itsentirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011,now U.S. Pat. No. 9,264,672, which are hereby incorporated herein byreference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. Publication Nos. US-2006-0061008 and/orUS-2006-0050018, which are all hereby incorporated herein by referencein their entireties. The display is viewable through the reflectiveelement when the display is activated to display information. Thedisplay element may be any type of display element, such as a vacuumfluorescent (VF) display element, a light emitting diode (LED) displayelement, such as an organic light emitting diode (OLED) or an inorganiclight emitting diode, an electroluminescent (EL) display element, aliquid crystal display (LCD) element, a video screen display element orbacklit thin film transistor (TFT) display element or the like, and maybe operable to display various information (as discrete characters,icons or the like, or in a multi-pixel manner) to the driver of thevehicle, such as passenger side inflatable restraint (PSIR) information,tire pressure status, and/or the like. The mirror assembly and/ordisplay may utilize aspects described in U.S. Pat. Nos. 7,184,190;7,255,451; 7,446,924 and/or 7,338,177, which are all hereby incorporatedherein by reference in their entireties. The thicknesses and materialsof the coatings on the substrates of the reflective element may beselected to provide a desired color or tint to the mirror reflectiveelement, such as a blue colored reflector, such as is known in the artand such as described in U.S. Pat. Nos. 5,910,854; 6,420,036 and/or7,274,501, which are hereby incorporated herein by reference in theirentireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and/or 6,124,886, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

The invention claimed is:
 1. A vehicular collision avoidance system,said vehicular collision avoidance system comprising: a forward-viewingcamera disposed at a windshield of a vehicle equipped with saidvehicular collision avoidance system, wherein said forward-viewingcamera views through the windshield to exterior of the equipped vehicleand has a field of view at least forward of the equipped vehicle; arearward-viewing camera disposed at a rear portion of the equippedvehicle, wherein said rearward-viewing camera has a field of view atleast rearward of the equipped vehicle; an electronic control unit;wherein said electronic control unit receives image data captured bysaid forward-viewing camera and receives image data captured by saidrearward-viewing camera; wherein said electronic control unit comprisesan image processor operable to process image data captured by saidforward-viewing camera and to process image data captured by saidrearward-viewing camera; wherein, responsive at least in part to imageprocessing by said image processor of image data captured by saidforward-viewing camera, said vehicular collision avoidance systemdetects vehicles present forward of the equipped vehicle; wherein,responsive at least in part to image processing by said image processorof image data captured by said rearward-viewing camera, said vehicularcollision avoidance system detects vehicles present rearward of theequipped vehicle; wherein the field of view of said rearward-viewingcamera at least encompasses (i) a traffic lane that the equipped vehicleis in on a road the equipped vehicle is traveling along and (ii) atleast one traffic lane that is adjacent to the traffic lane that theequipped vehicle is in on the road the equipped vehicle is travelingalong; wherein said vehicular collision avoidance system is operable todetermine that a vehicle detected rearward of the equipped vehicle istraveling in the same traffic lane that the equipped vehicle is in onthe road the equipped vehicle is traveling along; wherein said vehicularcollision avoidance system is operable to determine that a vehicledetected rearward of the equipped vehicle is traveling in a traffic lanethat is adjacent to the traffic lane that the equipped vehicle istraveling in on the road the equipped vehicle is traveling along; arearward-sensing radar sensor disposed at the equipped vehicle; whereinsaid rearward-sensing radar sensor senses at least rearward of theequipped vehicle; wherein said rearward-sensing radar sensor capturessensor data; wherein said electronic control unit receives sensor datacaptured by said rearward-sensing radar sensor; and wherein, responsiveto at least one selected from the group consisting of (i) dataprocessing at said electronics control unit of image data captured bysaid rearward-viewing camera and (ii) data processing at saidelectronics control unit of sensor data captured by saidrearward-sensing radar sensor, said vehicular collision avoidance system(a) determines speed difference between the equipped vehicle and anothervehicle present rearward of the equipped vehicle that is approaching theequipped vehicle and (b) determines distance from the equipped vehicleto the other vehicle present rearward of the equipped vehicle that isapproaching the equipped vehicle and based on such determinations,determines that impact with the equipped vehicle by the other vehicle isimminent.
 2. The vehicular collision avoidance system of claim 1,wherein, responsive at least in part to image processing by said imageprocessor of image data captured by said rearward-viewing camera, saidvehicular collision avoidance system determines that the other vehiclepresent rearward of the equipped vehicle that is approaching theequipped vehicle is traveling in the same traffic lane that the equippedvehicle is traveling in on the road the equipped vehicle is travelingalong.
 3. The vehicular collision avoidance system of claim 2, whereinthe other vehicle present rearward of the equipped vehicle that isapproaching the equipped vehicle is tailgating the equipped vehicle. 4.The vehicular collision avoidance system of claim 2, wherein, responsiveto the determination that impact with the equipped vehicle by the othervehicle is imminent, said vehicular collision avoidance system controlsthe equipped vehicle to accelerate the equipped vehicle.
 5. Thevehicular collision avoidance system of claim 4, wherein, responsive tothe determination that impact with the equipped vehicle by the othervehicle is imminent, said vehicular collision avoidance system controlsthe equipped vehicle to accelerate in order to lower speed of impactwith the equipped vehicle by the other vehicle.
 6. The vehicularcollision avoidance system of claim 4, wherein, responsive to thedetermination that impact with the equipped vehicle by the other vehicleis imminent, said vehicular collision avoidance system controls theequipped vehicle to accelerate in order to give the other vehicleadditional space for slowing/stopping.
 7. The vehicular collisionavoidance system of claim 2, wherein, responsive to the determinationthat impact with the equipped vehicle by the other vehicle is imminent,a driver of the equipped vehicle is alerted.
 8. The vehicular collisionavoidance system of claim 2, wherein, responsive to the determinationthat impact with the equipped vehicle by the other vehicle is imminent,pre-impact measures are undertaken at the equipped vehicle.
 9. Thevehicular collision avoidance system of claim 8, wherein said pre-impactmeasures comprise at least one selected from the group consisting of (i)pre-tensioning a seat belt of the equipped vehicle and (ii) adjusting aseat of the equipped vehicle.
 10. The vehicular collision avoidancesystem of claim 2, wherein, responsive (i) to data processing at saidelectronics control unit of image data captured by said rearward-viewingcamera and (ii) to data processing at said electronics control unit ofsensor data captured by said rearward-sensing radar sensor, saidvehicular collision avoidance system (a) determines speed differencebetween the equipped vehicle and the other vehicle present rearward ofthe equipped vehicle that is approaching the equipped vehicle and (b)determines distance from the equipped vehicle to the other vehiclepresent rearward of the equipped vehicle that is approaching theequipped vehicle.
 11. The vehicular collision avoidance system of claim10, wherein, responsive (i) to difference between speed of the othervehicle and speed of the equipped vehicle and (ii) to distance betweenthe other vehicle and the equipped vehicle both being such that impactwith the equipped vehicle by the other vehicle is imminent, saidvehicular collision avoidance system prepares the equipped vehicle forimpact.
 12. The vehicular collision avoidance system of claim 11,wherein said vehicular collision avoidance system prepares the equippedvehicle for impact by pre-tensioning a seat belt of the equippedvehicle.
 13. The vehicular collision avoidance system of claim 11,wherein said vehicular collision avoidance system prepares the equippedvehicle for impact by adjusting a seat of the equipped vehicle.
 14. Thevehicular collision avoidance system of claim 1, wherein said vehicularcollision avoidance system, responsive at least in part to thedetermination that impact with the equipped vehicle by the other vehicleis imminent, controls a steering system of the equipped vehicle to movethe equipped vehicle from the traffic lane that the equipped vehicle istraveling in on the road the equipped vehicle is traveling along toanother traffic lane on the road the equipped vehicle is travelingalong.
 15. The vehicular collision avoidance system of claim 1, whereinthe equipped vehicle receives, via a car2car (v2v) communication system,information wirelessly transmitted by the other vehicle present rearwardof the equipped vehicle that is approaching the equipped vehicle. 16.The vehicular collision avoidance system of claim 15, wherein,responsive at least in part to information transmitted via the car2car(v2v) communication system, a braking system of the equipped vehicle iscontrolled.
 17. The vehicular collision avoidance system of claim 15,wherein, responsive at least in part to information transmitted via thecar2car (v2v) communication system, a steering system of the equippedvehicle is controlled.
 18. The vehicular collision avoidance system ofclaim 1, wherein said vehicular collision avoidance system is operableto wirelessly communicate a request via a car2car (v2v) communicationsystem to the other vehicle present rearward of the equipped vehiclethat is approaching the equipped vehicle to control a vehicle system ofthe other vehicle.
 19. The vehicular collision avoidance system of claim18, wherein the vehicle system of the other vehicle comprises a brakesystem of the other vehicle.
 20. The vehicular collision avoidancesystem of claim 1, wherein said vehicular collision avoidance system isoperable to communicate via a car2car (v2v) communication system withthe other vehicle present rearward of the equipped vehicle that isapproaching the equipped vehicle to determine a collision avoidance pathfor the equipped vehicle.
 21. The vehicular collision avoidance systemof claim 1, wherein said vehicular collision avoidance system isoperable, responsive at least in part to a communication wirelesslycommunicated to the equipped vehicle via a car2car (v2v) communicationsystem, to at least two selected from the group consisting of (a)control a braking system of the equipped vehicle, (b) control a steeringsystem of the equipped vehicle and (c) control an acceleration system ofthe equipped vehicle.
 22. The vehicular collision avoidance system ofclaim 1, wherein said forward-viewing camera is a component of anadaptive cruise control system of the equipped vehicle.
 23. Thevehicular collision avoidance system of claim 1, wherein, responsive atleast in part to determination by said vehicular collision avoidancesystem that impact with the equipped vehicle by the other vehicle isimminent, said vehicular collision avoidance system determines anevasive path for the equipped vehicle to avoid impact with the equippedvehicle by the other vehicle.
 24. The vehicular collision avoidancesystem of claim 23, wherein said vehicular collision avoidance systemcontrols a steering system of the equipped vehicle to steer the equippedvehicle along the determined evasive path.
 25. The vehicular collisionavoidance system of claim 23, wherein said vehicular collision avoidancesystem controls a steering system of the equipped vehicle to move theequipped vehicle into a traffic lane that is adjacent to the trafficlane the equipped vehicle is traveling in.
 26. The vehicular collisionavoidance system of claim 1, wherein, responsive at least in part toinformation transmitted to or from the equipped vehicle via a car2car(v2v) communication system, and responsive at least in part to at leastone selected from the group consisting of (i) data processing at saidelectronics control unit of image data captured by said rearward-viewingcamera and (ii) data processing at said electronics control unit ofsensor data captured by said rearward-sensing radar sensor, saidvehicular collision avoidance system is operable to determine potentialof collision with the equipped vehicle by the other vehicle presentrearward of the equipped vehicle that is approaching the equippedvehicle.
 27. The vehicular collision avoidance system of claim 1,wherein, responsive at least in part to radar data sensed by saidrearward-sensing radar sensor, said vehicular collision avoidance systemis operable to determine potential of collision with the equippedvehicle by the other vehicle present rearward of the equipped vehiclethat is approaching the equipped vehicle.
 28. The vehicular collisionavoidance system of claim 1, wherein, responsive (i) to data processingat said electronics control unit of image data captured by saidrearward-viewing camera and (ii) to data processing at said electronicscontrol unit of sensor data captured by said rearward-sensing radarsensor, said vehicular collision avoidance system (a) determines speeddifference between the equipped vehicle and the other vehicle presentrearward of the equipped vehicle that is approaching the equippedvehicle and (b) determines distance from the equipped vehicle to theother vehicle present rearward of the equipped vehicle that isapproaching the equipped vehicle.
 29. The vehicular collision avoidancesystem of claim 28, wherein, based on such determinations, saidvehicular collision avoidance system determines that impact with theequipped vehicle by the other vehicle is imminent.
 30. The vehicularcollision avoidance system of claim 1, wherein the field of view of saidforward-viewing camera at least encompasses (i) the traffic lane thatthe equipped vehicle is traveling in on the road the equipped vehicle istraveling along and (ii) at least one traffic lane that is adjacent tothe traffic lane that the equipped vehicle is traveling in on the roadthe equipped vehicle is traveling along, and wherein, responsive atleast in part to image processing by said image processor of image datacaptured by said forward-viewing camera, said vehicular collisionavoidance system is operable to determine that a vehicle present aheadof the equipped vehicle on the road the equipped vehicle is travelingalong is traveling in the same traffic lane that the equipped vehicle istraveling in on the road the equipped vehicle is traveling along. 31.The vehicular collision avoidance system of claim 1, wherein the fieldof view of said forward-viewing camera at least encompasses (i) thetraffic lane that the equipped vehicle is traveling in on the road theequipped vehicle is traveling along and (ii) at least one traffic lanethat is adjacent to the traffic lane that the equipped vehicle istraveling in on the road the equipped vehicle is traveling along, andwherein, responsive at least in part to image processing by said imageprocessor of image data captured by said forward-viewing camera, saidvehicular collision avoidance system is operable to determine that avehicle present ahead of the equipped vehicle on the road the equippedvehicle is traveling along is traveling in a traffic lane that isadjacent to the traffic lane that the equipped vehicle is traveling inon that road the equipped vehicle is traveling along.
 32. The vehicularcollision avoidance system of claim 1, wherein said vehicular collisionavoidance system comprises a driver side-viewing camera disposed at adriver side portion of the equipped vehicle, said driver side-viewingcamera having a field of view at least sideward and rearward of theequipped vehicle, and wherein said vehicular collision avoidance systemcomprises a passenger side-viewing camera disposed at a passenger sideportion of the equipped vehicle, said passenger side-viewing camerahaving a field of view at least sideward and rearward of the equippedvehicle, and wherein said electronic control unit receives image datacaptured by said driver side-viewing camera and receives image datacaptured by said passenger side-viewing camera, and wherein said imageprocessor of said electronic control unit is operable to process imagedata captured by said driver side-viewing camera and to process imagedata captured by said passenger side-viewing camera, and wherein,responsive at least in part to at least one selected from the groupconsisting of (i) data processing at said electronics control unit ofimage data captured by said rearward-viewing camera, (ii) dataprocessing at said electronics control unit of image data captured bysaid driver side-viewing camera, (iii) data processing at saidelectronics control unit of image data captured by said passengerside-viewing camera and (iv) data processing at said electronics controlunit of sensor data captured by said rearward-sensing radar sensor, saidvehicular collision avoidance system determines potential of collisionwith the equipped vehicle by the other vehicle present rearward of theequipped vehicle that is approaching the equipped vehicle.
 33. Avehicular collision avoidance system, said vehicular collision avoidancesystem comprising: a forward-viewing camera disposed at a windshield ofa vehicle equipped with said vehicular collision avoidance system,wherein said forward-viewing camera views through the windshield toexterior of the equipped vehicle and has a field of view at leastforward of the equipped vehicle; a rearward-viewing camera disposed at arear portion of the equipped vehicle, wherein said rearward-viewingcamera has a field of view at least rearward of the equipped vehicle; anelectronic control unit; wherein said electronic control unit receivesimage data captured by said forward-viewing camera and receives imagedata captured by said rearward-viewing camera; wherein said electroniccontrol unit comprises an image processor operable to process image datacaptured by said forward-viewing camera and to process image datacaptured by said rearward-viewing camera; wherein, responsive at leastin part to image processing by said image processor of image datacaptured by said forward-viewing camera, said vehicular collisionavoidance system detects vehicles present forward of the equippedvehicle; wherein, responsive at least in part to image processing bysaid image processor of image data captured by said rearward-viewingcamera, said vehicular collision avoidance system detects vehiclespresent rearward of the equipped vehicle; wherein, responsive at leastin part to image processing by said image processor of image datacaptured by said rearward-viewing camera, said vehicular collisionavoidance system detects another vehicle that is approaching theequipped vehicle from rearward of the equipped vehicle and determinesthat the detected other vehicle present rearward of the equipped vehiclethat is approaching the equipped vehicle is traveling in the sametraffic lane that the equipped vehicle is traveling in on a road theequipped vehicle is traveling along; a rearward-sensing radar sensordisposed at the equipped vehicle; wherein said rearward-sensing radarsensor senses at least rearward of the equipped vehicle; wherein saidrearward-sensing radar sensor captures sensor data; wherein saidelectronic control unit receives sensor data captured by saidrearward-sensing radar sensor; wherein, responsive at least in part toat least one selected from the group consisting of (i) data processingat said electronics control unit of image data captured by saidrearward-viewing camera and (ii) data processing at said electronicscontrol unit of sensor data captured by said rearward-sensing radarsensor, said vehicular collision avoidance system determines potentialof collision with the equipped vehicle by the detected other vehiclepresent rearward of the equipped vehicle that is approaching theequipped vehicle; and wherein, responsive at least in part to thedetermination by said vehicular collision avoidance system of potentialof collision with the equipped vehicle by the detected other vehiclepresent rearward of the equipped vehicle that is approaching theequipped vehicle, said vehicular collision avoidance system determinesan evasive path for the equipped vehicle to avoid collision by thedetected other vehicle with the equipped vehicle.
 34. The vehicularcollision avoidance system of claim 33, wherein said vehicular collisionavoidance system controls a steering system of the equipped vehicle tosteer the equipped vehicle along the determined evasive path.
 35. Thevehicular collision avoidance system of claim 33, wherein said vehicularcollision avoidance system controls a steering system of the equippedvehicle to move the equipped vehicle into a traffic lane that isadjacent to the traffic lane the equipped vehicle is traveling in. 36.The vehicular collision avoidance system of claim 33, wherein,responsive to at least one selected from the group consisting of (i)image processing by said image processor of image data captured by saidrearward-viewing camera and (ii) data processing at said electronicscontrol unit of sensor data captured by said rearward-sensing radarsensor, said vehicular collision avoidance system determines speeddifference between the equipped vehicle and the detected other vehiclepresent rearward of the equipped vehicle that is approaching theequipped vehicle.
 37. The vehicular collision avoidance system of claim33, wherein, responsive to at least one selected from the groupconsisting of (i) image processing by said image processor of image datacaptured by said rearward-viewing camera and (ii) data processing atsaid electronics control unit of sensor data captured by saidrearward-sensing radar sensor, said vehicular collision avoidance systemdetermines distance from the equipped vehicle to the detected othervehicle present rearward of the equipped vehicle that is approaching theequipped vehicle.
 38. The vehicular collision avoidance system of claim33, wherein the detected other vehicle present rearward of the equippedvehicle that is approaching the equipped vehicle is tailgating theequipped vehicle.
 39. The vehicular collision avoidance system of claim38, wherein, responsive to the determination of potential of collisionwith the equipped vehicle by the detected other vehicle present rearwardof the equipped vehicle that is approaching the equipped vehicle, saidvehicular collision avoidance system controls the equipped vehicle toaccelerate the equipped vehicle in order to lower speed of impact withthe equipped vehicle by the detected other vehicle.
 40. The vehicularcollision avoidance system of claim 38, wherein, responsive to thedetermination of potential of collision with the equipped vehicle by thedetected other vehicle present rearward of the equipped vehicle that isapproaching the equipped vehicle, said vehicular collision avoidancesystem controls the equipped vehicle to accelerate in order to give thedetected other vehicle additional space for slowing/stopping.
 41. Thevehicular collision avoidance system of claim 33, wherein saidforward-viewing camera is a component of an adaptive cruise controlsystem of the equipped vehicle.
 42. The vehicular collision avoidancesystem of claim 41, wherein said vehicular collision avoidance system isoperable, responsive at least in part to a communication wirelesslycommunicated to the equipped vehicle via a car2car (v2v) communicationsystem, to at least two selected from the group consisting of (a)control a braking system of the equipped vehicle, (b) control a steeringsystem of the equipped vehicle and (c) control an acceleration system ofthe equipped vehicle.
 43. The vehicular collision avoidance system ofclaim 33, wherein said vehicular collision avoidance system comprises adriver side-viewing camera disposed at a driver side portion of theequipped vehicle, said driver side-viewing camera having a field of viewat least sideward and rearward of the equipped vehicle, and wherein saidvehicular collision avoidance system comprises a passenger side-viewingcamera disposed at a passenger side portion of the equipped vehicle,said passenger side-viewing camera having a field of view at leastsideward and rearward of the equipped vehicle, and wherein saidelectronic control unit receives image data captured by said driverside-viewing camera and receives image data captured by said passengerside-viewing camera, and wherein said image processor of said electroniccontrol unit is operable to process image data captured by said driverside-viewing camera and to process image data captured by said passengerside-viewing camera, and wherein, responsive at least in part to atleast one selected from the group consisting of (i) data processing atsaid electronics control unit of image data captured by saidrearward-viewing camera and (ii) data processing at said electronicscontrol unit of sensor data captured by said rearward-sensing radarsensor, and responsive at least in part to at least one selected fromthe group consisting of (a) data processing at said electronics controlunit of image data captured by said driver side-viewing camera and (b)data processing at said electronics control unit of image data capturedby said passenger side-viewing camera, said vehicular collisionavoidance system determines that impact with the equipped vehicle by thedetected other vehicle present rearward of the equipped vehicle that isapproaching the equipped vehicle is imminent.
 44. The vehicularcollision avoidance system of claim 43, wherein, responsive to thedetermination that impact with the equipped vehicle by the detectedother vehicle is imminent, pre-impact measures are undertaken at theequipped vehicle.
 45. The vehicular collision avoidance system of claim44, wherein said pre-impact measures comprise at least one selected fromthe group consisting of (i) pre-tensioning a seat belt of the equippedvehicle and (ii) adjusting a seat of the equipped vehicle.
 46. Thevehicular collision avoidance system of claim 43, wherein said vehicularcollision avoidance system, responsive to the determination that impactwith the equipped vehicle by the detected other vehicle is imminent,controls a steering system of the equipped vehicle to move the equippedvehicle from a traffic lane that the equipped vehicle is traveling in onthe road the equipped vehicle is traveling along to another traffic laneon the road the equipped vehicle is traveling along.
 47. The vehicularcollision avoidance system of claim 33, wherein, responsive to thedetermination of potential of collision with the equipped vehicle by thedetected other vehicle present rearward of the equipped vehicle that isapproaching the equipped vehicle, a driver of the equipped vehicle isalerted.
 48. A vehicular collision avoidance system, said vehicularcollision avoidance system comprising: a forward-viewing camera disposedat a windshield of a vehicle equipped with said vehicular collisionavoidance system, wherein said forward-viewing camera views through thewindshield to exterior of the equipped vehicle and has a field of viewat least forward of the equipped vehicle; a rearward-viewing cameradisposed at a rear portion of the equipped vehicle, wherein saidrearward-viewing camera has a field of view at least rearward of theequipped vehicle; an electronic control unit; wherein said electroniccontrol unit receives image data captured by said forward-viewing cameraand receives image data captured by said rearward-viewing camera;wherein said electronic control unit comprises an image processoroperable to process image data captured by said forward-viewing cameraand to process image data captured by said rearward-viewing camera;wherein, responsive at least in part to image processing by said imageprocessor of image data captured by said forward-viewing camera, saidvehicular collision avoidance system detects vehicles present forward ofthe equipped vehicle; wherein, responsive at least in part to imageprocessing by said image processor of image data captured by saidrearward-viewing camera, said vehicular collision avoidance systemdetects vehicles present rearward of the equipped vehicle; wherein thefield of view of said rearward-viewing camera at least encompasses (i) atraffic lane that the equipped vehicle is in on a road the equippedvehicle is traveling along and (ii) at least one traffic lane that isadjacent to the traffic lane that the equipped vehicle is in on the roadthe equipped vehicle is traveling along; wherein said vehicularcollision avoidance system is operable to determine that a vehicledetected rearward of the equipped vehicle is traveling in the sametraffic lane that the equipped vehicle is in on the road the equippedvehicle is traveling along; wherein said vehicular collision avoidancesystem is operable to determine that a vehicle detected rearward of theequipped vehicle is traveling in a traffic lane that is adjacent to thetraffic lane that the equipped vehicle is traveling in on the road theequipped vehicle is traveling along; at least one non-vision sensor;wherein said at least one non-vision sensor is selected from the groupconsisting of (a) a rearward-sensing radar sensor disposed at theequipped vehicle, and wherein said rearward-sensing radar sensor sensesat least rearward of the equipped vehicle, and wherein saidrearward-sensing radar sensor captures sensor data, and wherein saidelectronic control unit receives sensor data captured by saidrearward-sensing radar sensor and (b) a rearward-sensing lidar sensordisposed at the equipped vehicle, and wherein said rearward-sensinglidar sensor senses at least rearward of the equipped vehicle, andwherein said rearward-sensing lidar sensor captures sensor data, andwherein said electronic control unit receives sensor data captured bysaid rearward-sensing lidar sensor; wherein, responsive at least in partto at least one selected from the group consisting of (i) dataprocessing at said electronics control unit of image data captured bysaid rearward-viewing camera and (ii) data processing at saidelectronics control unit of sensor data captured by said at least onenon-vision sensor, said vehicular collision avoidance system determinespotential of collision with the equipped vehicle by another vehiclepresent rearward of the equipped vehicle that is approaching theequipped vehicle; wherein, responsive to the determination of potentialof collision with the equipped vehicle by the other vehicle presentrearward of the equipped vehicle that is approaching the equippedvehicle, said vehicular collision avoidance system controls at least onesystem of the equipped vehicle; and wherein the at least one system ofthe equipped vehicle is controlled by said vehicular collision avoidancesystem to at least one selected from the group consisting of (i) avoidcollision with the equipped vehicle by the other vehicle presentrearward of the equipped vehicle that is approaching the equippedvehicle and (ii) minimize impact with the equipped vehicle by the othervehicle present rearward of the equipped vehicle that is approaching theequipped vehicle.
 49. The vehicular collision avoidance system of claim48, wherein the at least one system of the equipped vehicle controlledby said vehicular collision avoidance system comprises a braking systemof the equipped vehicle.
 50. The vehicular collision avoidance system ofclaim 49, wherein said vehicular collision avoidance system controls thebraking system of the equipped vehicle dependent on a degree ofcollision hazard determined by said vehicular collision avoidancesystem.
 51. The vehicular collision avoidance system of claim 48,wherein the at least one system of the equipped vehicle controlled bysaid vehicular collision avoidance system comprises a steering system ofthe equipped vehicle.
 52. The vehicular collision avoidance system ofclaim 51, wherein said vehicular collision avoidance system controls thesteering system of the equipped vehicle dependent on a degree ofcollision hazard determined by said vehicular collision avoidancesystem.
 53. The vehicular collision avoidance system of claim 48,wherein the at least one system of the equipped vehicle controlled bysaid vehicular collision avoidance system comprises an accelerationsystem of the equipped vehicle.
 54. The vehicular collision avoidancesystem of claim 53, wherein said vehicular collision avoidance systemcontrols the acceleration system of the equipped vehicle dependent on adegree of collision hazard determined by said vehicular collisionavoidance system.
 55. The vehicular collision avoidance system of claim48, wherein the at least one system of the equipped vehicle controlledby said vehicular collision avoidance system comprises at least twoselected from the group consisting of (i) an acceleration system of theequipped vehicle, (ii) a steering system of the equipped vehicle and(iii) a braking system of the equipped vehicle.
 56. The vehicularcollision avoidance system of claim 55, wherein said vehicular collisionavoidance system determines that the other vehicle present rearward ofthe equipped vehicle that is approaching the equipped vehicle istraveling in the same traffic lane that the equipped vehicle istraveling in on the road the equipped vehicle is traveling along, andwherein, responsive to the determination of potential of collision withthe equipped vehicle by the other vehicle present rearward of theequipped vehicle that is approaching the equipped vehicle, saidvehicular collision avoidance system controls the equipped vehicle to atleast one selected from the group consisting of (i) accelerate theequipped vehicle, (ii) prepare the equipped vehicle for collision and(iii) steer the equipped vehicle out of the traffic lane the equippedvehicle is traveling along.
 57. The vehicular collision avoidance systemof claim 55, wherein said vehicular collision avoidance systemdetermines that the other vehicle present rearward of the equippedvehicle that is approaching the equipped vehicle is traveling in atraffic lane that is adjacent to the traffic lane that the equippedvehicle is traveling in on the road the equipped vehicle is travelingalong.
 58. The vehicular collision avoidance system of claim 57, whereinsaid vehicular collision avoidance system determines that the othervehicle present rearward of the equipped vehicle that is approaching theequipped vehicle is traveling in a traffic lane that is adjacent to thetraffic lane that the equipped vehicle is traveling in on the road theequipped vehicle is traveling along responsive at least in part to imageprocessing by said image processor of image data captured by saidrearward-viewing camera.
 59. The vehicular collision avoidance system ofclaim 48, wherein said vehicular collision avoidance system comprises adriver side-viewing camera disposed at a driver side portion of theequipped vehicle, said driver side-viewing camera having a field of viewat least sideward and rearward of the equipped vehicle, and wherein saidimage processor of said electronic control unit is operable to processimage data captured by said driver side-viewing camera, and wherein,responsive at least in part to image processing by said image processorof image data captured by said driver side-viewing camera, saidvehicular collision avoidance system determines that the other vehiclepresent rearward of the equipped vehicle that is approaching theequipped vehicle is traveling in a traffic lane that is adjacent to adriver side of the equipped vehicle.
 60. The vehicular collisionavoidance system of claim 48, wherein said vehicular collision avoidancesystem comprises a passenger side-viewing camera disposed at a passengerside portion of the equipped vehicle, said passenger side-viewing camerahaving a field of view at least sideward and rearward of the equippedvehicle, and wherein said image processor of said electronic controlunit is operable to process image data captured by said passengerside-viewing camera, and wherein, responsive at least in part to imageprocessing by said image processor of image data captured by saidpassenger side-viewing camera, said vehicular collision avoidance systemdetermines that the other vehicle present rearward of the equippedvehicle that is approaching the equipped vehicle is traveling in atraffic lane that is adjacent to a passenger side of the equippedvehicle.
 61. The vehicular collision avoidance system of claim 48,wherein said at least one non-vision sensor of said vehicular collisionavoidance system comprises a rearward-sensing lidar sensor disposed atthe equipped vehicle, and wherein said rearward-sensing lidar sensorsenses at least rearward of the equipped vehicle, and wherein saidrearward-sensing lidar sensor captures sensor data, and wherein saidelectronic control unit receives sensor data captured by saidrearward-sensing lidar sensor.
 62. The vehicular collision avoidancesystem of claim 61, wherein, responsive at least in part to thedetermination by said vehicular collision avoidance system of potentialof collision with the equipped vehicle by the other vehicle presentrearward of the equipped vehicle that is approaching the equippedvehicle, said vehicular collision avoidance system determines an evasivepath for the equipped vehicle to avoid collision with the other vehicle.63. The vehicular collision avoidance system of claim 61, wherein saidvehicular collision avoidance system comprises a driver side-viewingcamera disposed at a driver side portion of the equipped vehicle, saiddriver side-viewing camera having a field of view at least sideward andrearward of the equipped vehicle, and wherein said vehicular collisionavoidance system comprises a passenger side-viewing camera disposed at apassenger side portion of the equipped vehicle, said passengerside-viewing camera having a field of view at least sideward andrearward of the equipped vehicle, and wherein said electronic controlunit receives image data captured by said driver side-viewing camera andreceives image data captured by said passenger side-viewing camera, andwherein said image processor of said electronic control unit is operableto process image data captured by said driver side-viewing camera and toprocess image data captured by said passenger side-viewing camera, andwherein, responsive at least in part to at least one selected from thegroup consisting of (i) data processing at said electronics control unitof image data captured by said rearward-viewing camera and (ii) dataprocessing at said electronics control unit of sensor data captured bysaid rearward-sensing lidar sensor, and responsive at least in part toat least one selected from the group consisting of (a) data processingat said electronics control unit of image data captured by said driverside-viewing camera and (b) data processing at said electronics controlunit of image data captured by said passenger side-viewing camera, saidvehicular collision avoidance system determines that impact with theequipped vehicle by the other vehicle present rearward of the equippedvehicle that is approaching the equipped vehicle is imminent.
 64. Thevehicular collision avoidance system of claim 63, wherein said vehicularcollision avoidance system, responsive at least in part to thedetermination of potential of collision with the equipped vehicle by theother vehicle present rearward of the equipped vehicle that isapproaching the equipped vehicle, controls a steering system of theequipped vehicle to move the equipped vehicle from the traffic lane thatthe equipped vehicle is traveling in on the road the equipped vehicle istraveling along to another traffic lane on the road the equipped vehicleis traveling along.
 65. The vehicular collision avoidance system ofclaim 63, wherein, responsive to the determination of potential ofcollision with the equipped vehicle by the other vehicle presentrearward of the equipped vehicle that is approaching the equippedvehicle, pre-impact measures are undertaken at the equipped vehicle. 66.The vehicular collision avoidance system of claim 63, wherein,responsive to the determination of potential of collision with theequipped vehicle by the other vehicle present rearward of the equippedvehicle that is approaching the equipped vehicle, a driver of theequipped vehicle is alerted.
 67. The vehicular collision avoidancesystem of claim 48, wherein said at least one non-vision sensor of saidvehicular collision avoidance system comprises a rearward-sensing radarsensor disposed at the equipped vehicle, and wherein saidrearward-sensing radar sensor senses at least rearward of the equippedvehicle, and wherein said rearward-sensing radar sensor captures sensordata, and wherein said electronic control unit receives sensor datacaptured by said rearward-sensing radar sensor.
 68. The vehicularcollision avoidance system of claim 67, wherein, responsive at least inpart to the determination by said vehicular collision avoidance systemof potential of collision with the equipped vehicle by the other vehiclepresent rearward of the equipped vehicle that is approaching theequipped vehicle, said vehicular collision avoidance system determinesan evasive path for the equipped vehicle to avoid collision with theother vehicle.
 69. The vehicular collision avoidance system of claim 67,wherein said vehicular collision avoidance system comprises a driverside-viewing camera disposed at a driver side portion of the equippedvehicle, said driver side-viewing camera having a field of view at leastsideward and rearward of the equipped vehicle, and wherein saidvehicular collision avoidance system comprises a passenger side-viewingcamera disposed at a passenger side portion of the equipped vehicle,said passenger side-viewing camera having a field of view at leastsideward and rearward of the equipped vehicle, and wherein saidelectronic control unit receives image data captured by said driverside-viewing camera and receives image data captured by said passengerside-viewing camera, and wherein said image processor of said electroniccontrol unit is operable to process image data captured by said driverside-viewing camera and to process image data captured by said passengerside-viewing camera, and wherein, responsive at least in part to atleast one selected from the group consisting of (i) data processing atsaid electronics control unit of image data captured by saidrearward-viewing camera and (ii) data processing at said electronicscontrol unit of sensor data captured by said rearward-sensing radarsensor, and responsive at least in part to at least one selected fromthe group consisting of (a) data processing at said electronics controlunit of image data captured by said driver side-viewing camera and (b)data processing at said electronics control unit of image data capturedby said passenger side-viewing camera, said vehicular collisionavoidance system determines that impact with the equipped vehicle by theother vehicle present rearward of the equipped vehicle that isapproaching the equipped vehicle is imminent.